JPS5949144B2 - automatic tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic tool changer used in machining centers, etc., which utilizes standby time during machining to prepare tools for the next process and change tools in a short time. be.

An automatic tool changer has tools stored in a large number of arranged pots, and new tools are transferred from a magazine whose axes are perpendicular to or close to the direction of the main axis of the headstock. It has a structure that takes out or stores used tools from the main shaft into the magazine, and includes a device that rotates the pot of the magazine, and a so-called pivot arm that itself moves left and right, back and forth, and rotates. Alternatively, it is composed of a swinging arm that can move forward and backward and has a pivoting function and an intermediate stop function.

For example, to explain in detail the conventional automatic tool changer installed in the machining center shown in FIG. , this pot 103
Tools 104 categorized by numbers are stored in the.

Then, the tool 104 with the required number is selected by the tape command, and can be exchanged with the tool 106 mounted on the main shaft of the headstock 105 by an intermediate device, that is, a changer arm 107.

When exchanging tools, the tool 104 stored in the pot 103 in the magazine 102 is once pulled up 90 degrees around the hinge 109 by the operation of the cylinder 108, and as shown by the two-dot chain line in FIG. The changer arm 107 is moved in the direction of the arrow a in the figure to grip the tool 104' with the fingers 110, and the changer arm 107 is moved in the axial direction of the tool 104', that is, in the direction of the arrow C. Then, the empty bottle I-103' is rotated 90 degrees by the operation of the cylinder 108 and stored in the magazine 102.

After that, the changer arm 107 is retracted in the axial direction, that is, in the direction of arrow d, and returns to its original position, and the headstock 10
Waiting for the time when the tool 106 of No. 5 will be replaced.

When the machining with the tool 106 is completed, the headstock 1
05 moves up the side of the column 101 and stops at the same level as the changer arm 107.

Thereafter, the changer arm 107 moves in the direction of arrow A, grips the tool 106 attached to the spindle with fingers 110', further moves the changer arm 107 in the direction of arrow C to pull out the tool 106, and then After rotating the new tool 1041 to the main spindle position, the new tool 1041 is returned to the original direction in the direction of arrow d, and the new tool 104' is attached to the main spindle, completing the tool exchange.

When the tool exchange is completed and the changer arm 107 moves in the direction of arrow a, the head stock 105 descends and enters the machining process.

In such a conventional automatic tool changer, the tool 10
4' is pulled out by changer arm 107,
The machine itself is being processed by the tool 106, chips, cutting oil, etc. are scattered, and the pot 103' is empty.
Since the opening of the pot 103' is in an open state, dust such as cutting chips and cutting oil enters into the pot 103', and it is difficult to prevent this.

Also, the left and right movement of the changer arm 107, that is, the arrow a
Because the toss dock 105 cannot rise to the position of the changer arm 107 due to the movement in the b direction, the toss dock 105 cannot rise to the position of the changer arm 107, so its working range is limited and it takes time to change tools.

In addition, there are various drawbacks such as the need for complicated movements of the changer arm and the like.

The present invention eliminates such conventional drawbacks, uses the waiting time during machining to prepare tools for the next process, allows tools to be replaced in a short time, and prevents dust from entering during cutting. The purpose of the present invention is to provide an automatic four-motion tool changer that is equipped with a mechanism that allows tools to be removed reliably and to perform safe work.

To achieve this purpose, there is provided a tool magazine in which a plurality of tools are stored and a tool exchange position is set, and a tool holder is transferred at the tool exchange position of this tool magazine and is set on the main axis of a T machine tool. The tool holder is set at a passing position so that the tool is parallel to the spindle, and the tool holder moves between the passing position and the tool changing position of the tool magazine. an intermediate arm; a pair of gripping members pivotally supported on the intermediate arm so as to be openable and closable through 180 degrees to grip and hold the tool; and a pair of gripping members for attaching and detaching the tool through the opening and closing operations; The tool receiver of the arm reciprocates between a transfer position and a direction perpendicular to the main shaft to grip the tool mounted on the main shaft and transfer the tool to the gripping member. It reciprocates in a direction parallel to the main shaft to attach and detach the tool to and from the main shaft, and rotates around an axis parallel to the main shaft to mediate replacement of the tool between the main shaft and the gripping member. It is characterized by being equipped with a changer arm.

Hereinafter, one embodiment of the present invention will be described in detail based on the drawings.

First, the configuration of the main parts of the automatic tool changer of the present invention will be explained with reference to FIGS. 2 and 3.

A spindle head 1 includes a spindle 2 and is arranged on the side surface of a column 3 so as to be movable up and down.

The column 3 is provided with a changer arm 5 for attaching and detaching tools 6 via a cylinder 4 for one rotation, and a magazine 7 in which a large number of tools are stored on the side opposite to the spindle head 1 of the column 3. is the provision.

The magazine 7 is also provided with a tool gripping claw 7' for storing tools, and an intermediate arm 8 is provided in order to rotate and exchange the tools stored in the magazine 7 and the tools held in the changer arm 5. It is a provision.

An opening/closing mechanism is provided at a portion of the intermediate arm 8 that grips the shank of the tool.

Each member will be explained below.

Regarding the movement mechanism and rotation mechanism of the changer arm 5 in the directions of arrows C and D in FIG. 3, as shown in FIGS.
It can be rotated alternately by cP, and claws 11 and 11' for gripping tools are provided at both ends.

Also, a frame 12 supporting this changer arm 5
are movably supported in their vertical positions along shafts 13 and 13' fixed to a support tree 14 provided in a direction perpendicular to the rotation axis 10 of the changer arm 5 (see FIG. 3). Furthermore, the changer arm 5 is also movable in the axial direction of the rotating shaft 10, and the driving force is transmitted via the arm 16 by a driftwood cylinder 15 mounted on the frame 12. be done.

The turning mechanism of the changer arm 5 is achieved by rotating the pinion 18 fixed to the rotating shaft 10 by moving the rack 11 attached to the pressure cylinder 4 fixed to the frame 12 upward in the - direction in FIG. be rotated.

Incidentally, this rotation of the changer arm 5 is caused by the rotation of the a cylinder 15.
As a result of this operation, the rack 17 and pinion 18 are engaged with each other and can rotate only when moving in the direction of arrow C in FIG.

Next, a mechanism for moving the changer arm 5 left and right, that is, moving in the directions of arrows A and B in FIG. 3, will be explained with reference to FIGS. 6 to 9.

The main part is constructed as shown in FIG. As shown in FIG. 8, a rack 22 is connected and fixed, and this rack 22 meshes with a pinion 23 fixed to a pinion shaft 24, as shown in FIG. .

A cam roller 26 is attached to this pinion shaft 24 via an arm, and this cam roller 26 is slidably fitted into a groove 25' of a block 25 integral with the frame 12, which is movable along the shaft 13.

Therefore, when the rack 22 is moved by the driftwood cylinder 19 in the direction of the arrow E in FIG. move it.

As shown in FIG. The movement speed of the frame 12 is slow at the beginning, reaches the maximum speed at the intermediate position after starting to move, and then gradually becomes slower, and at the final stage, the movement speed of the frame 12 is slow. The motion follows a sine curve that stops.

Therefore, the frame 12 is moved without any impact, and the changer arm 5 can be moved left and right extremely smoothly.

Next, FIG. 10 is a plan view of the rotating mechanism of the intermediate arm 8, which rotates by 90 degrees between the tool changing position of the magazine and the tool changing position of the changer arm, and FIGS. 11 to 11 are detailed views. This will be explained with reference to FIG.

FIG. 10 shows a case in which the tool 9' is grasped by the tool grasping device 27, and the whole tree of the tool grasping device 21 is rotated 90 degrees around the shaft 28 so that it can be positioned at the position shown by the two-dot chain line in the figure. It has become.

A driftwood cylinder 30 is provided as a turning mechanism for the intermediate arm 8 of this tool gripping device 27, and its base end is rotatably attached to a pin 31 as a fulcrum. At the tip 34, one end of an arm 34 rotatable through 90° about a fulcrum pin 33 is rotatably connected with a pin 35, as shown in FIG.

A cam roller 6 attached to the other end of the arm 34
1 is slidably fitted to the groove cam 59 of the cam groove 59' fixed to the intermediate arm body 8' with a bolt 60.

Further, the grasping device 27 for grasping the tool is provided with an opening/closing cylinder 36, the piston end of which is
As shown in FIG. 12, which shows a cross section in the direction of arrows -■, it is connected to a cylindrical shaft 38 via a connecting frame 37, and rotation is prevented by a pin 39.

As shown in FIG. 13, this cylindrical shaft 38 has a sloped cam 38' formed on a part of the outer periphery of the central portion, and is used to perform an ink lock function of the grasping device 27.

A shaft 40 is disposed at the center of this cylindrical shaft 38, and the connecting frame 3
The cylindrical shaft 38 is slidable between a fixing washer 42 at the end on the 7 side and a flange 41 at the center of the shaft 40.

A rack 43 is mounted on the outside of the cylindrical shaft 38 of the shaft 40, and a nut 44 is mounted on the tip of the shaft 40 through a slight gap t.
is screwed onto the rack 43 via a spring 45.
It is energized to the right in the figure.

A pinion 46 that meshes with this rack 43 is fixed to a shaft 47, as shown in FIGS.
By moving the rack 43, the shaft 47
, 47' as axes, the tool γ can be gripped by opening and closing the half-shaped gripping members 49, 49' by the same angle.

Next, as shown in FIG. 13, a lever 50 rotates around a pin 54 fixed to the intermediate arm wood 8' as an inter-touch device that holds the tool γ in a gripping state with the gripping device 21. Possibly, a roller 51 is supported at one end and positioned so as to contact the inclined cam 38' of the cylindrical shaft 38, and a shaft 55 is slidably provided on the intermediate arm body 8' at the other end. The rollers 52, 52' attached to the base end of the rollers 52 and 52' are held in place.

A fork 55/ is attached to the tip of this shaft 55, and is always biased toward the fork 55' by a spring 56.

Then, the lock arm 51 fixed to each of the half-shaped grasping members 49 and 49' and the block 58 are attached to the grasping member 4.
When 9.49' is closed, both are sandwiched and locked by fork 55'.

To release this lock, the cylindrical shaft 38 moves and the inclined cam 38
When the roller 51 rides on and is pushed up, the lever 50 moves to the left in FIG. 13, and the lock arm 57 and block 58 are disengaged from the fork 55'.

In FIG. 14, 62 is a half-shaped spacer, and 63 is a half-shaped spacer made of an elastic material, which grips the bolt grip 9a of the tool γ.

Next, tool changing using the automatic tool changing device having such a configuration will be explained along with its operation.

When the tool 6 attached to the spindle 2 of the spindle head 1 that moves up and down the side surface of the column 3 completes the machining process, the spindle head 1 is attached to the front surface of the column 3 and is attached to the changer arm 5 which always maintains its orientation in the horizontal direction. The changer arm 5 rises to a position equal to the center height and stops, and at the same time, the changer arm 5 holding the processing tool 9 for the next process on the opposite side moves to the right in FIG. 3, that is, to the spindle head 1 side (in the direction of arrow A). and grab the used tool 6.

Then, the tool 6 is removed by moving in the axial direction (direction of arrow C), and at the end of the process, the turning cylinder 4
When the rotation is completed, the tool moves backward in the direction of the arrow and inserts the new tool 9 into the spindle 2.

When this insertion is completed, the changer arm 5 moves to the left in FIG. 3 (in the direction of arrow B) and stops at the end of the process.

At the same time, the spindle head 1 is lowered and machining is started using the new tool 9 inserted into the spindle 2.

At this time, the intermediate arm 8, which has been waiting at this position, closes, grips the shank portion of the machined tool 6, pivots as it is, and stores the tool from the changer arm 5 into the tool gripping claw 7' at a predetermined location in the magazine 7.

At the same time, the intermediate arm 8 opens to release this tool 6.

Next, the magazine 7 is rotated by a command from an NC or the like, and when the tool q for the next process is selected and stopped, the intermediate arm 8 is closed by the indexing completion signal of the magazine 7 and grasps the tool q.

In this state, the tool rotates 9CIO, inserts the tool γ into the changer arm 5, and stops.

It then waits until the next tool change. Next, in order to replace the tool γ for the next process, the spindle head 1 rises again and stops at the height of the changer arm 5, the intermediate arm 8 opens, and the changer arm 5 moves to the right and attaches to the spindle 2. Grasp the previously machined tool and move forward in the direction of arrow C, turn iso° at the end of the process, retreat in the direction of the arrow, and insert the new tool into the spindle 2.

By repeating the above-described cycle seven times, the old tool is stored in the magazine 7, and the next tool is taken out and held by the changer arm 5.

The operation of the automatic tool changer of the present invention has been outlined above, and will be further explained in detail with reference to the drawings.

When the spindle head 1 stops at the tool exchange position, the connecting frame 37 moves to the position shown by the two-dot chain line in FIG. Members 49, 49' are opened and form an angle of 180° with respect to each other.

That is, when the connecting frame 37 moves in the direction of arrow G in FIG. 12, the cylindrical shaft 38 also moves together with the connecting frame 37.
At this time, the 50 rollers 51 ride on the slope cam 38', and the shaft 55 is also pulled to the left (in the direction of arrow F) by the lever 50, and the fork 55' that restrains the gripping members 49, 49' comes off and is restrained. The condition is canceled.

Then, as it moves further in the direction of arrow G, the left end of the cylindrical shaft 38 hits the fixed washer 42 provided at the end of the shaft 40, and the 13th
As shown in the figure, this fixed washer 42 is pulled in the direction of arrow G.

Therefore, the nut 44 at the right end of the shaft 40 pushes the rack 43, and the pinion 46 that engages with the rack 43 rotates the shaft 47, which is opened, thereby opening the gripping members 49, 49'.

On the other hand, as shown in FIGS. 8 and 9, the changer arm 5 is moved to the frame via the cam roller 26 by the operation of the fluid cylinder 19, rack 22, and pinion 23.
The block 25 fixed at 2 is moved.

As already explained, the moving speed at this time draws a sine curve, and the changer arm 5 can be moved smoothly without any impact.

When the changer arm 5 moves in the direction of the spindle head 1 and grasps the tool 6, a tool unclamp function (not shown) in the spindle head 1 is activated at the right end by a signal from a limit switch (not shown). As a result, the tool is unloaded, and at the same time, the changer arm 5 moves in its axial direction, that is, in the direction of arrow C in FIGS. 3 and 5, removes the tool 6, and reaches the forward end.

When this is detected by another limit switch (not shown), the turning cylinder 4 is actuated to turn the changer arm 5 by 180 degrees.

When the turning operation is completed, this is detected by a limit switch (not shown), the changer arm 5 is moved back in the direction of the arrow in this state, a new tool 9 is inserted into the main shaft 2, and the insertion completion signal is sent. The clamping device inside the spindle head 1 operates and clamps.

When this operation is completed, changer arm 5 moves in the direction of arrow B in FIG.

In response to this movement completion signal, the spindle head 1 starts moving toward the next machining process.

At the same time, the piston of the opening/closing cylinder 36 of the intermediate arm 8 moves in the direction of arrow 1 in FIG.

As a result, the cylindrical shaft 38 is moved to the shaft 4 as shown in FIG.
Push the flange 41 of 0 and move it to the right, and move the rack 43 to the right via the spring 45 to release the halved gripping member 49°4.
9' is closed, and Losoquano 57 and block 58 are closed.

In order to lock these lock ends 1, 57 and the block 58, the piston moves further to the right, and when the roller 51 comes off the slope cam 38', the fork 55' of the shaft 55 is moved by the spring 56 as shown in FIG. It is returned in the direction of the arrow E inside and locked by the fork 55'.

In this way, the old tool 6 carried by the changer arm 5 is picked up and held.

Next, from this state, the fluid cylinder 30 shown in FIG.
When the piston 32 moves backward, the arm 34 touches the support pin 3
3 as a center, and the cam roller 61 slides within the cam groove 59' of the grooved cam 59 to rotate around the shaft 28 as a fulcrum.

That is, the mLK cylinder 30 rotates the intermediate arm 8 while gripping the old tool 6, and rotates the intermediate arm 8 to move along the two-dot chain line 27' shown in FIG.
Turn to the position.

At this position, the gripping claw on the side of the magazine 7, which has already been indexed to the storage position of the old tool 6, is waiting, and although not shown, the old tool 6 is inserted into this gripping claw.

Next, upon completion of this insertion, the piston of the cylinder 36 operates again to open the gripping members 49, 49' and release the grip on the old tool 6.

Further, upon this release, the magazine 7 starts rotating for indexing the next tool.

When the indexing is completed, the gripping members 49, 49' are closed by the opening/closing cylinder 36 of the intermediate arm 8 in response to the completion signal to grip the next new tool, and then the intermediate arm 8 changes its direction by the rotation pressure cylinder 30. Insert it into the changer arm 5 and wait for the next tool change.

In this way, the tools in the magazine 7, which are oriented in a different direction from the main spindle 2, are relayed by the intermediate arm 8 and the changer arm 5, and the time during machining is used to prepare the tools for the next process.
Tools are changed in the shortest possible time.

As explained above in detail with the embodiments, according to the present invention, (1) the changer arm gripping the tool moves in the direction of the spindle head after machining is completed and the spindle head has risen to the exchange position; Since the gripping member of the intermediate arm opens in two, there is no fear of cutting oil, cutting debris, etc. entering the intermediate arm, allowing the tool to be reliably mounted and leading to safer work.

■Since a cam mechanism is used for the left-right movement of the changer arm and the rotation mechanism of the intermediate arm, there is no need to make delicate adjustments to the piston speed of the (M, 0+ cylinder). Moves smoothly without any impact.

■By installing an interlock device that utilizes part of the piston stroke in the opening/closing mechanism of the gripping member of the intermediate arm, when the gripping member of the intermediate arm is closed, it is held in that state and the gripped tool is transferred to the changer arm. Also, it will not open due to force when inserted into or removed from the claw on the magazine side.

■The changer arm can prepare the next tool while remaining close to the magazine side, so it no longer obstructs the vertical stroke of the spindle head, widening the machining range.

The present invention can be applied even if the orientation of the tool on the changer arm and the orientation of the tool on the magazine are parallel to each other, at a right angle, at an acute angle, or at an obtuse angle.

[Brief explanation of the drawing]

Fig. 1 is a front view of a conventional automatic tool changer, Figs. 2 to 15 show an embodiment of the automatic tool changer of the present invention, Fig. 2 is a front view, and Fig. 3 is a plan view. Fig. 4 is a sectional view taken along IV-IV in Fig. 3, Fig. 5 is a sectional view taken along The figure is number 6
8 is a sectional view taken along ■--■ in FIG. 6, FIG. 9 is a sectional view taken along IX-IX in FIG. 8, and FIG. Figure 11 is the bottom view of Figure 10,
Figure 2 is a cross-sectional view taken along the ■-■ arrow in Figure 10, Figure 13 is a cross-sectional view taken along the ■-■ line in Figure 12, Figure 14 is a cross-sectional view taken along the line 12 is a sectional view taken along line XV-XV in FIG. 12. In the drawing, 1 is the spindle head, 2 is the main shaft, 3 is the column, 4 is the changer arm rotation cylinder, 5 is the changer arm,
6, 9, 9' are tools, 1 is a magazine, 8 is an intermediate arm,
27 is a tool gripping device, 30 is a pressure cylinder for pivoting the intermediate arm, 36 is a cylinder for opening and closing the gripping member, 49, 49'
55' is a locking fork, 57 is a locking arm, and 58 is a block.

Claims (1)

[Claims] 1. A tool magazine in which a plurality of tools are stored and a tool change position is set, and the tool receiver is transferred at the tool change position of this tool magazine, and the tool change position is set on the main axis of the machine tool. The tool holder is set at a passing position so that the tool is parallel to the main shaft on the side, and the tool holder has an intermediate arm that moves between the passing position and a tool changing position of the tool magazine; 18 on middle arm
a pair of gripping members that are pivotally supported to open and close at 0 degrees and grip the tool and attach and detach the tool through this opening and closing operation; The tool is reciprocated in a direction perpendicular to the main shaft between the two to grip the tool attached to the main shaft, and the tool is transferred to and from the gripping member, and the tool is reciprocated in a direction parallel to the main shaft. It is characterized by comprising a changer arm that attaches and detaches the tool to and from the main shaft and rotates around an axis parallel to the main shaft to mediate exchange of the tool between the main shaft and the gripping member. Automatic tool changer.